GANXX / articulated_vehicle

this is the ros project about the articulted veicle control system

铰接式铲运机在ROS系统下的建模与导航控制系统

该项目旨在创建一辆铰接式铲运机模型，在gazebo中进行建模仿真，并设计相应的环境感知，路径规划，路径跟踪控制模块。

系统使用Ubuntu 16.04 ，ros框架采用ROS-kinetic

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下载和编译

1. 下载src目录至本地电脑的ros工作空间根目录下。

2. 删除本地系统的move_base, navigation （如果已经安装）

   $ sudo aptitude purge ros-kinetic-move-base
   $ sudo aptitude purge ros-kinetic-navigation

3. 安装所需要的依赖

   $ rosdep install --from-paths src --ignore-src --rosdistro=kinetic -y

4. 更新gazebo版本，建议版本号为 gazebo 7.15以上

   1. 查看版本方法：

      $ gazebo -v

   2. 升级方法：

      $ sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
      $ wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
      $ sudo apt-get update
      $ sudo apt-get install gazebo7

5. 安装ros_control控制器

   $ sudo apt-get install ros-kinetic-velocity-controllers 
   $ sudo apt-get install ros-kinetic-position-controllers 

6. 进行编译

   $ catkin_make

   编译过程中可能会缺少相应的依赖或者是系统文件，可能会碰到的问题和解决方案如下：

出现（missing: BULLET_DYNAMICS_LIBRARY...）

CMake Error at /usr/share/cmake-2.8/Modules/FindPackageHandleStandardArgs.cmake:108 (message): Could NOT find Bullet (missing: BULLET_DYNAMICS_LIBRARY BULLET_COLLISION_LIBRARY BULLET_MATH_LIBRARY BULLET_SOFTBODY_LIBRARY BULLET_INCLUDE_DIR) Call Stack (most recent call first): /usr/share/cmake-2.8/Modules/FindPackageHandleStandardArgs.cmake:315 (_FPHSA_FAILURE_MESSAGE

如果编译时遇到上诉错误，进行如下操作

rosdep where-defined bullet
sudo apt-get install libbullet-dev

出现 Could not find a package configuration file provided by "tf2_sensor_msgs"

办法：

git clone https://github.com/ros/geometry2.git

出现 Could NOT find SDL (missing: SDL_LIBRARYSDL_INCLUDE_DIR)

sudo aptitude install libsdl1.2-dev

出现 Could NOT find SDL_image (missing:SDL_IMAGE_LIBRARIES SDL_IMAGE_INCLUDE_DIRS)

sudo apt-get install libsdl-image1.2-dev 

出现 Could not find a package configuration fileprovided by "move_base_msgs"

git clone https://github.com/ros-planning/navigation_msgs.git